基于3RRS-Bricard复合空间捕获系统运动学分析  

Kinematics analysis of composite space capture systems based on 3RRS-Bricard

作　　者：刘维惠 李晓辉[1] 文闻[1] 赵靖超 姚燕安[2] 李锐明[2] LIU Weihui;LI Xiaohui;WEN Wen;ZHAO Jingchao;YAO Yan’an;LI Ruiming(Beijing Key Laboratory of Long-life Technology of Precise Rotation and Transmission Mechanisms,Beijing Institute of Control Engineering,Beijing 100094,China;School of Mechanical,Electronic and Control Engineering,Beijing Jiaotong University,Beijing 100044,China)

机构地区：[1]北京控制工程研究所精密转动和传动机构长寿命技术北京市重点实验室,北京100094 [2]北京交通大学机械与电子控制工程学院,北京100044

出　　处：《航空学报》2021年第1期227-236,共10页Acta Aeronautica et Astronautica Sinica

基　　金：科工局稳定支撑项目(HTKJ2019KL502014);国家自然科学基金(51805025);CAST基金(2018CAST19)。

摘　　要：面向跨尺度、目标多样化的空间捕获任务,融合Bricard和3RRS机构的折展特性和几何特点对复合捕获系统运动学进行了分析。基于捕获系统的自由度和构型特点分析,通过构建Bricard与3RRS间的转换关系实现了捕获系统各机构间的运动学解耦。根据六棱柱模型,引入Bricard虚拟顶点,设计了面向复合空间捕获系统的运动学求解方法。在仿真环境下搭建捕获系统的运动学和动力学模型,并开展针对动态捕获目标的轨迹跟随实验。通过与基于闭环约束的阻尼最小二乘法(DLS)对比,验证了该运动学求解算法的有效性和先进性。实验结果表明,捕获系统可实现平稳的协同控制,运动过程中位置跟随精度优于4mm,姿态精度优于0.035rad。Aiming at cross-scale and multi-target spatial capture tasks,this study analyzes the kinematics of composite capture systems by combining the folding and geometric characteristics of Bricard and 3RRS mechanisms.Based on the analysis of the freedom degree and configuration characteristics of the capture system,the kinematic decoupling of the system is realized by constructing the transformation relationship between Bricard and 3RRS.According to the six-prism model and with the introduction of the Bricard virtual vertex,a kinematic solution method for the composite space capture system is designed.The kinematic and dynamic models of the capture system are built in the simulation environment,and the trajectory tracking experiments conducted for the dynamic capture targets.The effectiveness and advancement of the kinematic algorithm are verified through comparison with the Damped Least Squares(DLS)method based on the closed-loop constraint.The experimental results show that the capture system can achieve smooth cooperative control,with the position tracking accuracy and the attitude accuracy better than 4mm and 0.035rad,respectively.

关 键 词：在轨捕获 折展机构 闭环约束 运动解耦 运动学分析 

分 类 号：V423.9[航空宇航科学与技术—飞行器设计]